/*
Automatic clinic tests using a robot arm.
Copyright (C) 2010  CIC-CPC, CHU Gabriel Montpied
All other trademarks, logos and copyrights are the property
of their respective owners.

This file is part of cpc-painbot.

cpc-painbot is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

cpc-painbot is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License
along with cpc-painbot.  If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef REGULATEURDISTANCE_H
#define REGULATEURDISTANCE_H

#include "asservissement/regulateur.h"

/*! Régulation en hauteur du bras.
    Permet de réguler la hauteur du bras.
    La consigne fournit donne la distance en mm sur l'axe vertical (Z).
*/
class RegulateurDistance : public Regulateur
{
Q_OBJECT
public:
    //! Constructeur
    explicit RegulateurDistance(QObject *parent = 0);

public slots:
    /*! Régulation en hauteur.
        L'écart est calculé de telle sorte à ce que la hauteur du bras
        soit celle de la consigne - au plus proche.
        \see Regulateur::reguler()
    */
    void reguler(const Asservissement *systeme);
};

#endif // REGULATEURDISTANCE_H
